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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Yang, Xiao Huang, Fanghao Gu, Jason Chen, Zheng Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Zhejiang University Ocean College Zhoushan316021 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada Zhejiang Laboratory Hangzhou311100 China

ISBN: (纸本)9798350325706

In this paper, a novel bilateral teleoperation control is designed specifically for manipulation in contact environment. Firstly, serval interaction conditions (e.g., free motion and rigid interaction) are defined and unified into one equation as the designed unified interactive model, which can also be utilized as a control objective. Based on this model, a remote hybrid motion/force controller is designed for remote robot, which achieves the good position and force tracking, and ensures the precise and safe contact force that helps reduce the workload of operator. Subsequently, the contact force is reconstructed in the local side by estimating and transmitting the non-power environment coefficient from remote side, which provides the operator with accurate force feedback. Since the coefficient replaces the direct transmission of force signal in the communication channel, the traditional power-cycle problem is essentially avoided, which guarantees the stability of teleoperation system under communication time delays. Comparative experiments are implemented to verify the effectiveness of proposed method for teleoperated manipulation. © 2023 IEEE.

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Joint Inference of Speaker Diarization and ASR with Multi-Stage Information Sharing

Joint Inference of Speaker Diarization and ASR with Multi-St...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Weiqing Wang Danwei Cai Ming Cheng Ming Li Department of Electrical & Computer Engineering Duke University Durham NC USA Suzhou Municipal Key Laboratory of Multimodal Intelligent Systems Duke Kunshan University Kunshan China

In this paper, we introduce a novel approach that unifies Automatic Speech Recognition (ASR) and speaker diarization in a cohesive framework. Utilizing the synergies between the two tasks, our method effectively extracts speaker-specific information from the lower layers of a pretrained Conformer-based ASR model while leveraging the higher layers for enhanced diarization performance. In particular, the integration of ASR contextual details into the diarization process has been demonstrated to be effective. Results on the DIHARD III dataset indicate that our approach achieves a Diarization Error Rate (DER) of 10.52%, which can be further reduced to 10.39% when integrating ASR features into the diarization model. These findings highlight the potential of our approach, suggesting competitive performance against other state-of-the-art systems. Additionally, our framework’s ability to simultaneously generate text transcripts for each speaker marks a distinct advantage, which can further enhance ASR capabilities and transition towards an end-to-end multitask framework encompassing both ASR and speaker diarization.

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Frequency Domain Auto-tuning of Structured LPV Controllers for High-Precision Motion Control

arXiv

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arXiv 2024年

作者： Broens, Yorick Butler, Hans Tóth, Roland The Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands The Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the capabilities of traditional solutions. Traditional control methods often struggle with the complexity and position-dependent effects inherent in modern motion systems, leading to compromises in performance and a laborious task of controller design. This paper addresses these challenges by introducing a novel structured feedback control auto-tuning approach for multiple-input multiple-output (MIMO) motion systems. By leveraging frequency response function (FRF) estimates and the linear-parameter-varying (LPV) control framework, the proposed approach automates the controller design, while providing local stability and performance guarantees. Key innovations include norm-based magnitude optimization of the sensitivity functions, an automated stability check through a novel extended factorized Nyquist criterion, a modular structured MIMO LPV controller parameterization, and a controller discretization approach which preserves the continuous-time (CT) controller parameterization. The proposed approach is validated through experiments using a state-of-the-art moving-magnet planar actuator *** Codes 37M15 © 2024, CC BY.

关键词： Continuous time systems

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Consensus Control of Leader-Following Multi-Agent systems in Directed Topology With Heterogeneous Disturbances

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 423-431页

作者： Qinglai Wei Xin Wang Xiangnan Zhong Naiqi Wu the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049and also with Qingdao Academy of Intelligent IndustriesQingdao 266109China the Department of Computer and Electrical Engineering and Computer Science Florida Atlantic UniversityBoca Raton FL33431 USA the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and SystemsMacao University of Science and TechnologyMacao 999078China

This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown *** main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic *** traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent *** introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local *** the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is *** simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

关键词： Consensus control directed topology external disturbance multi-agent(MA)systems

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Near-channel classifier: symbiotic communication and classification in high-dimensional space

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Brain Informatics 2021年第1期8卷 1-15页

作者： Hersche, Michael Lippuner, Stefan Korb, Matthias Benini, Luca Rahimi, Abbas Integrated Systems Laboratory ETH Zurich Zurich Switzerland IBM Research-Zurich Zurich Switzerland Institute of Microelectronics and Integrated Circuits Bundeswehr University Munich Germany Department of Electrical Electronic and Information Engineering University of Bologna Bologna Italy

Brain-inspired high-dimensional (HD) computing represents and manipulates data using very long, random vectors with dimensionality in the thousands. This representation provides great robustness for various classification tasks where classifiers operate at low signal-to-noise ratio (SNR) conditions. Similarly, hyperdimensional modulation (HDM) leverages the robustness of complex-valued HD representations to reliably transmit information over a wireless channel, achieving a similar SNR gain compared to state-of-the-art codes. Here, we first propose methods to improve HDM in two ways: (1) reducing the complexity of encoding and decoding operations by generating, manipulating, and transmitting bipolar or integer vectors instead of complex vectors;(2) increasing the SNR gain by 0.2 dB using a new soft-feedback decoder;it can also increase the additive superposition capacity of HD vectors up to 1.7× in noise-free cases. Secondly, we propose to combine encoding/decoding aspects of communication with classification into a single framework by relying on multifaceted HD representations. This leads to a near-channel classification (NCC) approach that avoids transformations between different representations and the overhead of multiple layers of encoding/decoding, hence reducing latency and complexity of a wireless smart distributed system while providing robustness against noise and interference from other nodes. We provide a use-case for wearable hand gesture recognition with 5 classes from 64 EMG sensors, where the encoded vectors are transmitted to a remote node for either performing NCC, or reconstruction of the encoded data. In NCC mode, the original classification accuracy of 94% is maintained, even in the channel at SNR of 0 dB, by transmitting 10,000-bit vectors. We remove the redundancy by reducing the vector dimensionality to 2048-bit that still exhibits a graceful degradation: less than 6% accuracy loss is occurred in the channel at − 5 dB, and with the interferenc

关键词： Vectors

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Design and Modeling of a Two-stage PV Inverter for Single Phase and Three Phase Applications

Design and Modeling of a Two-stage PV Inverter for Single Ph...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Yidi Shen Reza Asrar Ghaderloo Chanaka Singhabahu Rakesh Resalayyan Alireza Khaligh Department of Electrical and Computer Engineering Maryland Power Electronics Laboratory MD USA The Institute for Systems Research University of Maryland MD USA

This paper presents the modeling and design of a 1kW two-stage photovoltaic (PV) inverter compatible with both single phase and three phase grid. The topology consists of a cascade of dual-active-bridge (DAB) based dc-dc stage and a two-level voltage source inverter (VSI) stage. Two-level VSI based dc-ac stage is designed and the modulation schemes are compared considering operation for both single phase and three phase output connection. A 3 leg interleaved hybrid pulse width modulation (3 leg-IHPWM) is proposed for single phase operation to reduce power loss and current total harmonic distortion (THD) with full utilization of the third switching leg. Sizing of dc link capacitance is analyzed for both single phase power decoupling and three phase load unbalance. Circuit design and component selection are conducted including dc link voltage selection, output filter sizing, DAB dc-dc stage transformer sizing and modulation optimization for zero-voltage-switching (ZVS) ability and control flexibility. The proposed design is verified through hardware prototype and experimental testing.

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Controller Verification of a Smart-Grid Compatible 200 kHz Single-stage Photovoltaic Microinverter

Controller Verification of a Smart-Grid Compatible 200 kHz S...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Daniel Zakzewski Rakesh Resalayyan Arafat Hasnain Chanaka Singhabahu Alireza Khaligh Department of Electrical and Computer Engineering Maryland Power Electronics Laboratory The Institute for Systems Research University of Maryland College Park United States

This paper presents control system design, implementation, and experimental validation of a single-stage 400 W, 200 kHz solar photovoltaic (PV) microinverter using hardware-in-the-loop (HIL) and hardware testing. The selected circuit topology is based on a Gallium Nitride (GaN) direct-matrix based dual active bridge (DAB) converter with a low voltage active power decoupler (APD) circuit. Control performance is verified, smart-grid compatibility is tested, and circuit operation is confirmed. Controller HIL (CHIL) is shown to aid in a complex power electronics system design by 1) enabling detailed control development prior to hardware implementation, 2) expanding the use of automated testing, and 3) increasing confidence in control performance prior to prototype testing. Altogether, these factors make HIL a valuable tool in complex power electronic designs.

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A Hybrid Scheme for Reconfigurable Intelligent Surfaces: How Many Elements Should be Estimated?

A Hybrid Scheme for Reconfigurable Intelligent Surfaces: How...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Andreas Nicolaides Constantinos Psomas Sheng Yang Ioannis Krikidis Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus Laboratory of Signals and Systems CentraleSupélec Gif-sur-Yvette France

In this work, a low-complexity hybrid scheme is presented for a wireless network assisted by a reconfigurable intelligent surface (RIS), where channel estimation is required for only a subset of the elements. Specifically, in order to reduce the channel training overhead and boost the performance of the RIS-aided network, the RIS is partitioned in two sub-surfaces, which are sequentially activated to assist the communication. The elements of the first sub-surface align their phase shifts, based on the acquired channel state information (CSI) from a channel training period, whereas the elements of the second sub-surface randomly rotate the phase of the incident signals. The performance of the proposed scheme is investigated under the effect of imperfect CSI acquisition at the RIS. Analytical expressions for the outage probability are derived and useful insights on the optimal configuration of the RIS are provided. We show that, by optimizing the number of elements that need to be estimated, the proposed scheme provides significant performance gains and overcomes the limitations caused by the imperfect CSI acquisition.

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Distributed Software-Defined Network Architecture for Smart Grid Resilience to Denial-of-Service Attacks

Distributed Software-Defined Network Architecture for Smart ...

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IEEE General Meeting Power& Energy Society

作者： Dennis Agnew Sharon Boamah Reynold Mathieu Austin Cooper Janise McNair Arturo Bretas Department of Electrical and Computer Engineering University of Florida Gainesville FL Distributed Systems Group Pacific Northwest National Laboratory Richland WA

An important challenge for smart grid security is designing a secure and robust smart grid communications architecture to protect against cyber-threats, such as Denial-of-Service (DoS) attacks, that can adversely impact the operation of the power grid. Researchers have proposed using Software Defined Network frameworks to enhance cybersecurity of the smart grid, but there is a lack of benchmarking and comparative analyses among the many techniques. In this work, a distributed three-controller software-defined networking (D3-SDN) architecture, benchmarking, and comparative analysis with other techniques is presented. The selected distributed flat SDN architecture divides the network horizontally into multiple areas or clusters, where each cluster is handled by a single Open Network Operating System (ONOS) controller. A case study using the IEEE 118-bus system is provided to compare the performance of the presented ONOS-managed D3-SDN, against the POX controller. In addition, the proposed architecture outperforms a single SDN controller framework by a tenfold increase in throughput; a reduction in latency of > 20%; and an increase in throughput of approximately 11% during the DoS attack scenarios.

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Reduced Sensor Control Approach for Active Power Decoupling Circuit in PV Microinverter Application

Reduced Sensor Control Approach for Active Power Decoupling ...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Yidi Shen Daniel Zakzewski Arafat Hasnain Rakesh Resalayyan Alireza Khaligh Department of Electrical and Computer Engineering and The Institute for Systems Research Maryland Power Electronics Laboratory University of Maryland College Park MD USA

Active power decoupling (APD) circuit is of great importance in single-phase photovoltaic (PV) inverter systems for eliminating the fluctuating power drawn from the PV panel. The control of APD circuit is the key to the power decoupling performance and maximum power point tracking (MPPT) efficiency. This paper proposes a control approach for parallel boost type APD circuit with a single sensor, reducing the count of sensors compared to the conventional APD control approach. Operation of the APD circuit with control approach utilizing only the readings from the decoupling capacitor voltage sensor is analyzed in this work. Specifically, controller design for the APD circuit with reduced sensor applicable to a 40 V, 400 W microinverter is presented and experimentally verified with a GaN-based prototype.

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